The St. Paul (MN) Police Department has released body camera footage of the fatal shooting of 31-year-old Ronald Davis earlier in September.

According to the Pioneer Press, Davis was behind the wheel of a vehicle that rear-ended a patrol car driven by Officer Steven Mattson. Davis then got out of his car armed with a knife in one hand and a flashlight in the other, charging at Mattson and attempting to assault him.

The officer can be heard in the video saying, "Get away from me. Drop the knife. Drop the (expletive) knife. Drop the knife!"

Officer Mattson then opened fire, fatally wounding Davis.

Mayor Melvin Carter said after he watched the body camera footage that it was an "incredibly dangerous and scary event that no person and certainly no officer would ever hope to encounter."